METHOD FOR REALIZING WEAVING MOTION OF WELDING ROBOT

摘要

The present invention relates to a method to perform a weaving motion of a welding robot to weld a welding target which changes a position of a welding torch to prevent collision in a section where the welding torch of the welding robot collides with a structure around the welding target, and retains constantly the position of the welding torch in the other sections. According to the present invention, the method of the present invention maintains robot workability and welding quality stably by changing only the position of the welding torch in the section where the welding torch collides with the structure around the welding target, and constantly retains the welding position in other sections by minimizing a rotary weaving section.